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author | Julian Oes <joes@student.ethz.ch> | 2012-11-19 16:17:52 -0800 |
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committer | Julian Oes <joes@student.ethz.ch> | 2012-11-19 16:17:52 -0800 |
commit | 129e6d73debca5653911867e9db54990c02591bb (patch) | |
tree | d570eb77b836b977ed0a8db59da712435bb12099 /apps/multirotor_att_control | |
parent | 2652b16d37f2221dc9dabfa1a278651c2931e5ce (diff) | |
download | px4-firmware-129e6d73debca5653911867e9db54990c02591bb.tar.gz px4-firmware-129e6d73debca5653911867e9db54990c02591bb.tar.bz2 px4-firmware-129e6d73debca5653911867e9db54990c02591bb.zip |
Changed yaw position control to yaw speed control for multirotors, tested with ardrone
Diffstat (limited to 'apps/multirotor_att_control')
-rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 14 | ||||
-rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 12 |
2 files changed, 21 insertions, 5 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 337a45215..91439d36d 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -155,6 +155,9 @@ mc_thread_main(int argc, char *argv[]) /* store if yaw position or yaw speed has been changed */ bool control_yaw_position = true; + /* store if we stopped a yaw movement */ + bool first_time_after_yaw_speed_control = true; + /* prepare the handle for the failsafe throttle */ param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR"); float failsafe_throttle = 0.0f; @@ -249,7 +252,7 @@ mc_thread_main(int argc, char *argv[]) if (state.flag_control_attitude_enabled != flag_control_attitude_enabled || state.flag_control_manual_enabled != flag_control_manual_enabled || state.flag_system_armed != flag_system_armed) { - att_sp.yaw_body = att.yaw; + att_sp.yaw_tait_bryan = att.yaw; } static bool rc_loss_first_time = true; @@ -294,16 +297,19 @@ mc_thread_main(int argc, char *argv[]) if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { rates_sp.yaw = manual.yaw; control_yaw_position = false; + first_time_after_yaw_speed_control = true; } else { - att_sp.yaw_body = 0.0f; + rates_sp.yaw = 0.0f; + if(first_time_after_yaw_speed_control) { + att_sp.yaw_tait_bryan = att.yaw; + first_time_after_yaw_speed_control = false; + } control_yaw_position = true; } } att_sp.thrust = manual.throttle; att_sp.timestamp = hrt_absolute_time(); - - //rates_sp.yaw = manual.yaw; } } /* STEP 2: publish the result to the vehicle actuators */ diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index bf908c6dd..87eeaced5 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -181,6 +181,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s static bool initialized = false; + static float yaw_error; + /* initialize the pid controllers when the function is called for the first time */ if (initialized == false) { parameters_init(&h); @@ -218,7 +220,15 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s if(control_yaw_position) { /* control yaw rate */ - rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_body), sinf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed); + //rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_tait_bryan), sinf(att->yaw - att_sp->yaw_tait_bryan)) - (p.yaw_d * att->yawspeed); + yaw_error = att->yaw - att_sp->yaw_tait_bryan; + if ((double)yaw_error > M_PI) { + yaw_error -= M_PI; + } else if ((double)yaw_error < -M_PI) { + yaw_error += M_PI; + } + + rates_sp->yaw = - p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed); } rates_sp->thrust = att_sp->thrust; |